An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The operating system according to claim 1, wherein the direction calculation unit calculates the first direction as a normal direction of an approximate plane of the detected target surface.
3. The operating system according to claim 1, wherein the direction calculation unit calculates, for each pixel in the detected target surface, a normal direction from a three-dimensional position of a proximity region including the each pixel and a plurality of pixels adjacent to the pixel, and calculates the first direction as a representative value of the normal direction in the plurality of pixels in the detected target surface.
4. The operating system according to claim 3, wherein the direction calculation unit calculates the normal direction from an outer product of two vectors along the proximity region.
6. The operating system according to claim 5, wherein the one or more hardware processors are configured to further implement a target object determination unit that includes a network learned by learning data generated based on imaging information that is transformed into three-dimensional information and a physical feature of the movable member, and determines the target object corresponding to the acquired imaging information.
8. The control device according to claim 7, wherein the one or more hardware processors are configured to further implement a target object determination unit that includes a network learned by learning data generated based OD imaging information that is transformed into three-dimensional information and a physical feature of the movable member, and determines the target object corresponding to the acquired imaging information.
9. A computer program product having a non-transitory computer readable medium including instructions, wherein the instructions, when executed by a computer, cause the computer to function as the target surface detection unit, the position calculation unit, the direction calculation unit, and the movement control unit of the operating system according to claim 1.
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August 26, 2019
July 26, 2022
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